};
#define NB_SERVO (sizeof(servo_table)/sizeof(*servo_table))
-static volatile uint8_t bypass;
+static uint8_t bypass;
static volatile uint8_t done;
-static volatile uint8_t portval;
-static volatile uint8_t rxidx;
+static uint8_t portval;
+static uint8_t rxidx;
+
+static uint8_t icp_idx = NB_SERVO;
+static uint16_t icp_servos[NB_SERVO];
+static uint16_t icp_prev;
#define BYPASS_ENABLE 14
#define BYPASS_DISABLE 15
/*
* SPI protocol:
*
- * A command is stored on 2 bytes. The first one has its msb to 0, and the
- * second one to 1. The first received byte contains the command number, and the
- * msb of the servo value. The second byte contains the lsb of the servo value.
+ * A command is stored on 2 bytes (except command 0). The first byte
+ * has its most significant bit to 0, and the second one to 1. The
+ * first received byte contains the command number, and the msb of the
+ * servo value. The second byte contains the lsb of the servo value.
*
- * Commands 0 to NB_SERVO are to set the value of servo.
+ * Command 0 is only one byte long, it means "I have nothing to say".
+ * Commands 1 to NB_SERVO+1 are to set the value of servo.
* Command 14 is to enable bypass mode.
* Command 15 is to disable bypass mode.
*/
-static volatile union {
+static union {
uint8_t u8;
struct {
/* inverted: little endian */
};
} byte0;
-static volatile union {
+static union {
uint8_t u8;
struct {
/* inverted: little endian */
if (rxidx == 0) {
byte0.u8 = c;
+
+ /* command num 0 is ignored */
+ if (byte0.cmd_num == 0)
+ return;
}
else {
uint16_t val;
/* process command */
- if (byte0.cmd_num < NB_SERVO) {
+ if (byte0.cmd_num < NB_SERVO+1) {
val = (uint16_t)byte0.val_msb << 7;
val += byte1.val_lsb;
- servo_table[byte0.cmd_num].command = val;
+ servo_table[byte0.cmd_num-1].command = val;
}
else if (byte0.cmd_num == BYPASS_ENABLE) {
bypass = 1;
rxidx ^= 1;
}
+static void poll_input_capture(void)
+{
+ uint16_t icp, diff;
+ uint8_t rising;
+
+ /* no new sample, return */
+ if ((TIFR1 & _BV(ICF1)) == 0)
+ return;
+
+ sei();
+ icp = ICR1;
+ cli();
+
+ rising = TCCR1B & _BV(ICES1);
+
+ /* change the edge type */
+ TCCR1B ^= _BV(ICES1);
+
+ /* clear the flag */
+ TIFR1 = TIFR1 | _BV(ICF1);
+
+ diff = icp - icp_prev;
+ icp_prev = icp;
+
+ /* a rising edge with at least 2ms of state 0 means that we
+ * get the first servo */
+ if (rising == 1 && diff > 2000) {
+ icp_idx = 0;
+ return;
+ }
+
+ /* get the value for the servo */
+ if (rising == 0 && icp_idx < NB_SERVO) {
+ if (diff < 1000)
+ icp_servos[icp_idx] = 0;
+ else
+ icp_servos[icp_idx] = diff - 1000;
+ icp_idx++;
+ }
+}
+
+static void poll(void)
+{
+ poll_spi();
+ poll_input_capture();
+}
+
static void load_timer_at(uint16_t t)
{
OCR1A = t;
//portval = PORTC | (1 << s->bit);
portval = (1 << s->bit);
t = TCNT1;
- load_timer_at(t + 150);
+ load_timer_at(t + 20);
while (done == 0)
- poll_spi();
+ poll();
/* reset bit */
done = 0;
portval = 0;
//portval = PORTC & (~(1 << s->bit));
- load_timer_at(t + 150 + 8000 + s->command * 8);
+ load_timer_at(t + 20 + 1000 + s->command);
while (done == 0)
- poll_spi();
+ poll();
}
int main(void)
{
uint8_t i;
uint8_t t, diff;
+ uint8_t tmp;
+
+ /* use pull-up for inputs */
+ PORTC |= 0x3f;
/* LED */
DDRB = 0x02;
/* servo outputs PD2-PD7 */
DDRD = 0xfc;
- /* start timer1 at clk/1 (8Mhz) */
+ /* start timer1 at clk/8 (1Mhz), enable noise canceler on
+ * input capture, capture rising edge */
TCNT1 = 0;
- TCCR1B = _BV(CS10);
+ TCCR1B = _BV(CS11) | _BV(ICNC1) | _BV(ICES1);
/* start timer0 at clk/1024 (~8Khz) */
TCNT0 = 0;
diff = TCNT0 - t;
if (diff >= 160)
break;
- poll_spi();
+ poll();
}
/* bypass mode */
- while (bypass == 1) {
+ if (bypass == 1) {
LED_ON();
- PORTD = (PINC & 0x3f) << 2;
- poll_spi();
+
+ while (bypass == 1) {
+ tmp = PINC;
+ tmp &= 0x3f;
+ tmp <<= 2;
+ PORTD = tmp;
+ poll();
+ }
+ LED_OFF();
}
- LED_OFF();
}
return 0;